Turned on the GeoFence. The aircraft is small and I'm currently only flying LineOfSight (LoS) with no FPV (yet). So, I think this is reasonable.
GeoFence (current settings):
Type: Altitude and Circle
Action: RTL or Land
Max Altitude: 120m (400 ft is current suggested AMA Limit in USA)
Max Radius: 200m (656 ft or 1/8 mile)
RTL Altitude: 20m (65 ft. Note that this is the normal RTL altitude parameter)
http://copter.ardupilot.com/wiki/ac2_simple_geofence/
Note: (added after later GPS trouble repaired): With the GeoFence enabled, the pre-arm checks will require you have GPS lock before Arming the vehicle (at all, in any mode). Consider controlling it with a TX switch or take laptop with MP to field every time. Leaving it enabled for now because I only fly Nova outside, and never fly without a minimal GPS-Lock. If I need to Arm it inside house for some reason, I'll have to switch GeoFence off first.
FrSky Taranis:
Switch B: Flight Timer-A
Switch D: Loiter, Stabilize, Altitude-Hold
Switch E: Off, Simple-Mode, Super-Simple-Mode (GPS)
Switch F: Off, RTL (ReturnToLaunch)
Android 4.x Tablet running DroidPlanner 1.x (GCS)
MissionPlanner: v1.3.11
ArduCopter: v3.1.12 (Nova stock)
FW: v120
FC: APM_v252_v2.0
Props: 8045 stock (8in x 4.5 pitch)
Battery: Turnigy LiPo 11.1v 2700mah 3s 20-30c (102x35x28mm)
Addons:
Prop-Guards
Soft camera mount
Mobius 1080p camera
HK 3DR 915Mhz Telemetry Radio v2
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